<b>Special Issue on Under Water System Technology 2015: Control, Sensing and Instrumentations (Guest Editor: Prof. Dr. Mohd Rizal Arshad</b> http://nopr.niscpr.res.in/handle/123456789/34817 2026-10-09T10:04:57Z 2026-10-09T10:04:57Z Cao, Junliang Cao, Junjun Zeng, Zheng Lian, Lian http://nopr.niscpr.res.in/handle/123456789/34971 2016-07-21T09:52:29Z 2015-12-01T00:00:00Z

Title: Dynamics and approximate semi-analytical solution of an underwater glider in spiral motion Authors: Cao, Junliang; Cao, Junjun; Zeng, Zheng; Lian, Lian Abstract: Underwater gliders take advantages of the net buoyancy to operate in the water column at low speed, but the dynamic models are highly nonlinear, highly coupled, and difficult to describe. Comparing with the saw-tooth motion in the vertical plane, the steady state solutions in spiral motion have become much more challengeable in navigation control and path planning. This paper presents an approximate semi-analytical solution to the steady state spiraling motion of a glider. The nonlinear multi-body dynamic model of an underwater glider actuated by a single internal movable and rotatable mass is established. The semi-analytical solution to any spiral trajectory is obtained after rational simplifications of the thorough equations of motion. The approximate solutions are proved sufficiently close to actual values by comparing with the simulating results of the full dynamic model. Page(s): 2008-2018

2015-12-01T00:00:00Z Aras, Mohd Shahrieel Mohd Abdullah, Shahrum Shah http://nopr.niscpr.res.in/handle/123456789/34966 2016-07-21T09:46:20Z 2015-12-01T00:00:00Z

Title: Adaptive Simplified Fuzzy Logic Controller for Depth Control of Underwater Remotely Operated Vehicle Authors: Aras, Mohd Shahrieel Mohd; Abdullah, Shahrum Shah Abstract: A Remotely Operated Vehicle (ROV) is one class of the unmanned underwater vehicles that is tethered, unoccupied, highly manoeuvrable, and operated by a person on a platform on water surface. For depth control of ROV, an occurrence of overshoot in the system response is highly dangerous. Clearly an overshoot in the ROV vertical trajectory may cause damages to both the ROV and the inspected structure. Maintaining the position of a small scale ROV within its working area is difficult even for experienced ROV pilots, especially in the presence of underwater currents and waves. This project, focuses on controlling the ROV vertical trajectory as the ROV tries to remain stationary on the desired depth and having its overshoot, rise time and settling time minimized. This project begins empirical modelling to capture the dynamics of a newly fabricated ROV, followed by an intelligent controller design for depth control of ROV based on the Single Input Fuzzy Logic Controller (SIFLC). The parameters of the SIFLC were tuned by an improved Particle Swarm Optimization (PSO) algorithm. A novel adaptive technique called the Adaptive Simplified Fuzzy Logic Controller (ASFLC) was introduced that has the ability to adapt its parameters depending on the depth set point used. The algorithm was verified in MATLAB® Simulink platform. Then, verified algorithms were tested on an actual prototype ROV in a water tank. Results show it was found that the technique can effectively control the depth of ROV with no overshoot and having its settling time minimized. Page(s): 1995-2007

2015-12-01T00:00:00Z Mei, Jian Hong Arshad, M. R. http://nopr.niscpr.res.in/handle/123456789/34963 2016-07-21T09:43:14Z 2015-12-01T00:00:00Z

Title: A hybrid artificial potential field method for autonomous surface vessel path planning in dynamic riverine environment Authors: Mei, Jian Hong; Arshad, M. R. Abstract: A hybrid Artificial Potential Field (APF) method is addressed in this paper for Autonomous Surface Vessel (ASV) cruising in the dynamic riverine environment. Firstly, a balance control scheme is proposed to replace the attractive potential function and perform the ASV tracking along the centerline of the river. Then, to simplify the repulsive potential function, the relative velocity between ASV and obstacle is derived from relative position, which reduces the requirement of on-board sensing. Finally, two challenging scenarios, head-on situation and overtaking situation, where ASV encounters another moving ship in a river are simulated. The simulation results illustrate that the proposed hybrid APF method is effective for simultaneous path planning and obstacle avoidance in the dynamic riverine environment. Page(s): 1980-1994

2015-12-01T00:00:00Z Zuo, Mingjiu Xiang, Xianbo Yu, Caoyang Zheng, Jinrong http://nopr.niscpr.res.in/handle/123456789/34958 2016-07-21T09:39:53Z 2015-12-01T00:00:00Z

Title: Motion forecast of intelligent underwater sampling apparatus —— Part II: CFD simulation and experimental results Authors: Zuo, Mingjiu; Xiang, Xianbo; Yu, Caoyang; Zheng, Jinrong Abstract: The part II of the paper adopts the steady-state superposition algorithm proposed in Part I to simulate the vertical surfacing motion and the horizontal drift of the intelligent underwater sampling apparatus (IUSA) under sea current, in order to figure out the surfacing time and horizontal recovery range on the surface of the sea. Through dividing the surfacing process into a number of infinitesimal segments, the velocity, fluid force and displacement of the IUSA are obtained by resorting to Computational Fluid Dynamics (CFD) software, and the procedure of pre-treatment, solver and post-treatment of Fluent is presented in detail. Simulation results based on SolidWorks and FLUENT are compared which also show the proposed algorithm can meet the requirements of the motion forecast of the IUSA. Preliminary experimental results in East Lake validate that the theoretical algorithm and the computational method are effective within the allowable error range, which can guide the mission operator to recover the IUSA on the broad sea area. Page(s): 1971-1979

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